You can
download the
complete plans for a
Turtlebot from
http://turtle
bot.com/build. I
decided to laser-cut
my own plates and
build my own
standoffs. The plates
are for the Create
base, and need slight
modification to use
with a Roomba 500
(http://make
projects.com/
Project/Build-Your-
Own-TurtleBot-2-
Inch-Standoff
/1328/1).

Turtlebot Complete

This Turtlebot is running on the ROS Diamondback
release. The default software baud rate needs to be
changed in the setup-node.py file from 57600 to 11520.
There are some significant differences between the Create
base and the Roomba 500. Most importantly, there is no
gyro chip in the Turtlebot-EU. Also, there is no automatic
way to turn off the battery to the Kinect, so I am using a
secondary battery to extend the runtime between charging.
A good tip is to always keep the robot on the charger when
not in use.

The latest version of ROS (Electric) will have some
special drivers that reflect the differences between a
Turtlebot using a Roomba versus a Create as a base. I am
looking forward to upgrading. So far, I’ve been able to run
the basic ROS Teleop, Dashboard, and Follow programs on
my RYO_Turtlebot. SV

Acknowledgements

I’d Like to thank Melonee Wise and Mike Gregg
for their generous donation of the Roomba 510, the
Homebrew Robotics Club for that free one month loan
of a Turtlebot, and TechShop. They should arrest me
for loitering, but instead they actually let me teach
classes there.

STEER WINNING ROBOTS
WITHOUT SERVOS!

Perform proportional speed, direction, and steering with only two Radio/Control channels for vehicles using two
separate brush-type electric motors mounted right and left
with our mixing RDFR dual speed control. Used in many
successful competitive robots. Single joystick operation: up
goes straight ahead, down is reverse. Pure right or left twirls
vehicle as motors turn opposite directions. In between stick
positions completely proportional. Plugs in like a servo to
your Futaba, JR, Hitec, or similar radio. Compatible with gyro
steering stabilization. Various volt and amp sizes available.
The RDFR47E 55V 75A per motor unit pictured above.
www.vantec.com